Sensor fusion of odometer, compass and beacon distance for mobile robots

Rufus Fraanje; René Beltman; Fidelis Theinert; Michiel van Osch; Teade Punter; John Bolte

doi:10.4018/IJAIML.2020010101

Sensor fusion of odometer, compass and beacon distance for mobile robots

Rufus Fraanje
, René Beltman
, Fidelis Theinert
, Michiel van Osch
, Teade Punter
, John Bolte

Onderzoeksoutput: Bijdrage aan tijdschrift › Artikel › Wetenschappelijk › peer review

Samenvatting

The estimation of the pose of a differential drive mobile robot from noisy odometer, compass, and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment.

Originele taal	Engels
Aantal pagina's	17
Tijdschrift	International Journal of Artificial Intelligence and Machine Learning
Volume	10
Nummer van het tijdschrift	1
DOI's	https://doi.org/10.4018/IJAIML.2020010101
Status	Gepubliceerd - 2020

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10.4018/IJAIML.2020010101Licentie: CC BY

https://dblp.org/rec/journals/ijaiml/FraanjeBTOPB20Licentie: CC BY

Citeer dit

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AU - Punter, Teade

AU - Bolte, John

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